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Intro To Matrix Algebra
Intro To Matrix Algebra
22.1
Introduction
Since the advent of the digital computer with its own memory, the importance of matrix algebra
has continued to grow along with the developments in computers. This is partly because matrices
allow themselves to be readily manipulated through skilful computer programming, and partly
because many physical laws lend themselves to be readily represented by matrices.
The present chapter will describe the laws of matrix algebra by a methodological approach,
rather than by rigorous mathematical theories. This is believed to be the most suitable approach
for engineers, who will use matrix algebra as a tool.
22.2
Definitions
A rectangular matrix can be described as a table or array of quantities, where the quantities usually
take the form of numbers, as shown be equations (22.1) and (22.2):
[AI
[B1
(22.1)
-1
-2
-3
-4
-5
(22.2)
Definitions
=
=
55 1
numberofrows
numberofcolumns
A row can be described as a horizontal line of quantities, and a column can be described as a
vertical line of quantities, so that the matrix [B] of equation (22.2) is of order 4 x 3.
The quantities contained in the third row of [B] are -3, 5 and 6 , and the quantities contained
in the second column of [B] are - 1 , 4 , 5 and - 5.
A square matrix ha5 the same number of rows as columns, as shown by equation (22.3), which
is said to be of order n:
'13
. . a,,,
'23
. . a2,,
a33
. . . a3n
(22.3)
[AI
an3
...
a,,,,
A column matrix contains a single column of quantities, as shown by equation (22.4), where it can
be seen that the matix is represented by braces:
(22.4)
A row matrix contains a single row of quantities, as shown by equation (22.5), where it can be seen
that the matrix is represented by the special brackets:
(22.5)
The transpose of a matrix is obtained by exchanging its columns with its rows, as shown by
equation (22.6):
552
(22.6)
4
-5
0 -3
1
-
In equation (22.6), the first row of [A], when transposed, becomes the first column of [B]; the
second row of [A] becomes the second column of [B] and the third row of [A] becomes the third
column of [B], respectively.
22.3
[AI
-3
-5
-7
-1
-2
and
PI
(1
[AI+[Bl
2)
(4- 7)
(-5- 1)
3 9
-6 4
( o t 9)
(-3
8)
( 6 - 2)
(22.7)
553
[A] - [B] =
- ( l - 2)
(0 - 9) -
(4
(-3 - 8)
*(-5
7)
1) (6
2)(22.8)
-1
-9
11
-11
8
-4
PI =
(all + 4 & 2
+ 4 2 )
. . .(ah -t 4")
-t 4 2 )
*.
(a21
[AI +
n matrices:
4&22
+2.
4.)
(22.9)
and
(22.10)
554
22.4
Matrix multiplication
Matrices can be multiplied together, by multiplying the rows of the premultiplier into the columns
of the postmultiplier, as shown by equations (22.1 1) and (22.12).
If
1
[A]
4 -3
-5
and
PI
I
I
2 -2
-1
3 -4
(4 x 7 + (-3)x
(2+0)
(-2+0)
(28+3)
(8-9)
(-8+12)
(-35-6)
[C]
(-10+18)
-41
(22.1 1)
(10-24)
2 - 2
31 -1
(-4))
(22.12)
8 -14
i.e. to obtain an element of the matrix [C], namely CV,the zth row of the premultiplier [A] must
be premultiplied into thejth column of the postmultiplier [B] to give
I'
555
where
NB
the number of columns of the premultiplier and also, the number of rows of the
postmultiplier.
The premultiplyingmatrix [A] must have the same number of columns as the rows in the
postmultiplying matrix [B].
In other words, if [A] is of order ( m x P) and [B] is of order (P x n), then the product [C] is of
order (m x n).
22.5
A diagonal matrix is a square matrix which contains all its non-zero elements in a diagonal from
the top left comer of the matrix to its bottom right comer, as shown by equation (22.13). This
diagonal is usually called the main or leading diagonal.
[AI
21 1
a22
0
0
a33
(22.13)
0
0
an
A special case of diagonal matrix is where all the non-zero elements are equal to unity, as shown
by equation (22.14). This matrix is called a unit matrix, as it is the matrix equivalent of unity.
[I1
(22.14)
0
0
A symmetrical matrix is shown in equation (22.15), where it can be seen that the matrix is
symmetrical about its leading diagonal:
556
[AI
2-3
-3
9 -7
1 6 - 7
(22.15)
22.6
a,,
Determinants
The determinant of the 2x2 matrix of equation (22.16) can be evaluated, as follows:
(22.16)
Detenninantof[A] = 4 x 6 - 2 ~ ( - 1 )
2 4 + 2 = 26
det [A]
all
(22.17)
where
: :1 I:
(22.18)
Similarly, the determinant of the 3x3 matrix of equation (22.19) can be evaluated, as shown by
equation (22.20):
det
11
12
a13
21
a22
23
31
32
a33
(22.19)
557
(22.20)
21
a22
31
'32
'13
det
2 -3
-3
8 (45
- 0) -2(18
(22.21)
- 0)
-3 (0
15)
or
det IAl
279
For a determinant of large order, this method of evaluation is unsatisfactory, and readers are
advised to consult Ross, C T F, Advanced Applied Finite Element Methocis (Horwood 1998), or
Collar, A R,and Simpson, A, Matrices and Engineering Dynamics (Ellis Horwood, 1987) which
give more suitable methods for expanding larger order determinants.
22.7
The cofactor of a d u d order matrix is obtained by removing the appropriate columns and rows of
the cofactor, and evaluating the resulting determinants, as shown below.
558
If
[A]
11
I2
13
21
22
23
-31
32
33-
12
11
C
21
22
c
31
I3
C
23
c
32
33
(22.22)
559
The adjoint or adjugate matrix, [A] is obtained by transposing the cofactor matrix, as follows:
IT
ie
[A]
22.8
[A
(22.23)
The inverse or reciprocal matrix is required in matrix algebra, as it is the matrix equivalent of a
scalar reciprocal, and it is used for division.
The inverse of the matrix [A] is given by equation (22.24):
(22.24)
a22
c
a12
-a21
ai
-a,2
all
a22
560
all
az2 -
a2,
so that
(22.26)
In general, inverting large matrices through the use of equation (22.24) is unsatisfactory, and for
large matrices, the reader is advised to refer to Ross, C T F, Advanced Applied Finite Element
Methods (Horwood 1998), where a computer program is presented for solving nth order matrices
on a microcomputer.
The inverse of a unit matrix is another unit matrix of the same order, and the inverse of a
diagonal matrix is obtained by finding the reciprocals of its leading diagonal.
The inverse of an orthogonal matrix is equal to its transpose. A typical orthogonal matrix is
shown in equation (22.27):
I "1
r
[AI
(22.27)
-s c
where
= COS^
sina
a,,
a,,
a;
= -s
a;
and
det
cz
s2
56 1
so that
22.9
(22.28)
[AIT
The inverse of a matrix can be used for solving the set of linear simultaneous equations shown in
equation (22.29). If,
[AI
(.I
{4
(22.29)
where [A] and {c} are known and { x } is a vector of unknowns, then { x } can be obtained from
equation (22.30), where [A]-' has been pre-multiplied on both sides of this equation:
Another method of solving simultaneous equations, whch is usually superior to inverting the
matrix, is by triangulation. For this case, the elements of the matrix below the leading diagonal
are eliminated, so that the last unknown can readily be determined, and the remaining unknowns
obtained by back-substitution.
Determine:
22.1
[A]+[B]
22.2
[A] - [B]
;]
and
PI
-1
2 -4
562
22.3
[AIT
22.4
22.5
22.6
22.7
22.8
22.9
22.10
If
1 -2
[c] =
-2
1 -2
0 -2
and
9
[D]
determine:
22.11
[C] + [D]
22.12
[C] - [D]
1 -2
-I
-4
Further problems
22.13
[C]'
22.14
[D]'
22.15
[C] x [D]
22.16
[D] x [C]
22.17
det [C]
22.18
det [D]
22.19
[CI-'
22.20
[D].'
If
r 2
-3
[E] =
and
PI
determine:
22.21
[E]'
22.22
[FIT
22.23
[E] x [F]
7 -1
-4
-5
563
564
22.24
[F]'
22.25
If
x,
[E]'
2x,
-x* + x2 - 2x3 =
O-2x,+x3
-2